Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2022
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2208.05360 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911779796287488 |
|---|---|
| author | Serbinowska, Serena S. Johnson, Taylor T. |
| author_facet | Serbinowska, Serena S. Johnson, Taylor T. |
| contents | Behavior Trees, which originated in video games as a method for controlling NPCs but have since gained traction within the robotics community, are a framework for describing the execution of a task. BehaVerify is a tool that creates a nuXmv model from a py_tree. For composite nodes, which are standardized, this process is automatic and requires no additional user input. A wide variety of leaf nodes are automatically supported and require no additional user input, but customized leaf nodes will require additional user input to be correctly modeled. BehaVerify can provide a template to make this easier. BehaVerify is able to create a nuXmv model with over 100 nodes and nuXmv was able to verify various non-trivial LTL properties on this model, both directly and via counterexample. The model in question features parallel nodes, selector, and sequence nodes. A comparison with models based on BTCompiler indicates that the models created by BehaVerify perform better. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2208_05360 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | BehaVerify: Verifying Temporal Logic Specifications for Behavior Trees Serbinowska, Serena S. Johnson, Taylor T. Robotics Behavior Trees, which originated in video games as a method for controlling NPCs but have since gained traction within the robotics community, are a framework for describing the execution of a task. BehaVerify is a tool that creates a nuXmv model from a py_tree. For composite nodes, which are standardized, this process is automatic and requires no additional user input. A wide variety of leaf nodes are automatically supported and require no additional user input, but customized leaf nodes will require additional user input to be correctly modeled. BehaVerify can provide a template to make this easier. BehaVerify is able to create a nuXmv model with over 100 nodes and nuXmv was able to verify various non-trivial LTL properties on this model, both directly and via counterexample. The model in question features parallel nodes, selector, and sequence nodes. A comparison with models based on BTCompiler indicates that the models created by BehaVerify perform better. |
| title | BehaVerify: Verifying Temporal Logic Specifications for Behavior Trees |
| topic | Robotics |
| url | https://arxiv.org/abs/2208.05360 |